Mechanical picking clamping jaw mechanism

Abstract

The utility model relates to the field of robot picking, in particular to a mechanical picking clamping jaw mechanism which is located at the tail end of an angle deflection mechanism of a mechanical jaw and comprises a rotating motor, an opening and closing motor and an opening and closing machine frame. The outer side of the rotating motor and the opening and closing motor are fixedly connected to an opening and closing support together through a connecting base, a plurality of clamping jaw petals are hinged to the outer side of the opening and closing support in the circumferential direction, an opening and closing assembly is arranged on the inner side of the opening and closing rack, and the opening and closing assembly is driven by the opening and closing motor to drive the clamping jaw petals to be opened and closed at the same time. The crop picking device can adapt to different growth bending angles of crops, so that effective picking is achieved, and the picking efficiency is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robot picking, in particular to a mechanical picking claw mechanism. Background Art

[0002] Chrysanthemum, safflower, marigold and other herbaceous plants of the genus Chrysanthemum in the Asteraceae family are widely planted due to their herbal properties. Currently, they mostly rely on manual picking, which is labor-intensive and inefficient. In order to effectively reduce the labor intensity of picking, improve the picking efficiency and thus meet large-scale planting needs, picking robots for Asteraceae crops have emerged. For example, CN213718787U discloses a chrysanthemum picking vehicle, wherein a picking actuator is installed on the top of the main platform of the picking vehicle, and a conveyor belt is installed on the bottom of the main platform. The picking actuator transfers the picked chrysanthemums to the conveyor belt and collects them in a collecting bin.

[0003] The above-mentioned picking actuator includes a mechanical arm that moves along three axes and a mechanical claw installed at the lower end of the mechanical arm, and the mechanical claw includes an angle motor, a mounting plate, an opening and closing motor, a first connecting rod, a second connecting rod and a clamping claw. The angle motor is fixed to the lower end of the mechanical arm, and the output end of the angle motor is connected to the mounting plate to form an angle deflection mechanism of the mechanical claw. An opening and closing motor is provided on the bottom surface of the end of the mounting plate, and a sleeve is provided on the driving screw of the opening and closing motor. The outer wall of the sleeve is symmetrically rotated and connected to the first connecting rod. A clamping claw is provided at the bottom end of the first connecting rod, and one end of the second connecting rod is rotatably connected to the bottom end of the screw, and the other end is slidably assembled on the inner wall of the first connecting rod.

[0004] However, in actual picking, it is found that not all crops grow vertically. The roots and stems of some crops grow in curved shapes at different angles. When picking the flowers of such crops, the outer wall of the jaws of the mechanical claw will come into contact with the branches and press down outward, causing the flowers to be unable to enter the jaws, resulting in empty picking and affecting the picking efficiency. Utility Model Content

[0005] In order to solve the above-mentioned deficiencies of the prior art, the utility model provides a mechanical picking claw mechanism with a rotation function to adapt to crops growing at different bending angles.

[0006] The technical solution of the utility model is as follows: a mechanical picking claw mechanism is located at the end of the angle deflection mechanism of the mechanical claw, including a rotating motor, an opening and closing motor and an opening and closing frame, the output shaft of the rotating motor is rotationally connected to the end of the angle deflection mechanism, the outer side of the rotating motor is fixedly connected to the opening and closing bracket together with the opening and closing motor through a connecting seat, the outer side of the opening and closing bracket is hinged with a plurality of claw petals along the circumferential direction, the inner side of the opening and closing frame is provided with an opening and closing component, and the opening and closing component drives each of the claw petals to open and close simultaneously under the drive of the opening and closing motor. The opening and closing frame and the claw petals are driven by the rotating motor to rotate along the axis of the output shaft of the rotating motor, so that they rotate until the gap between the claw petals is aligned with the flower branches, thereby avoiding empty picking operations caused by the claw petals touching and pressing down the flower branches.

[0007] The two sides of the clamping claw petals have corrugated parts, the corrugated parts of two adjacent clamping claw petals cooperate with each other, and a channel for the flower branches to pass through is formed between the matched corrugated parts. When picking flowers growing obliquely, the flower branches are located in the channel between the corrugated parts, and the corrugated parts can provide effective vertical resistance to the flower branches, thereby ensuring smooth picking of the flowers.

[0008] The opening and closing assembly includes a plum blossom cam and an elastic member, the inner side of the plum blossom cam member is drivingly connected to the output shaft of the opening and closing motor, the outer side of the plum blossom cam member is formed with arc-shaped protrusions of the same number as the clamping claw petals, the upper end of the clamping claw petals is fixed with a driven rod for hinged connection with the outer side of the opening and closing frame, the inner side of the driven rod is elastically connected to the opening and closing bracket through the elastic member, and the end of the driven rod is fixed with a driven round head that is in sliding contact with the outer side of the plum blossom cam. The opening and closing of the clamping claw petals is achieved by the cooperation of the plum blossom cam and the elastic member. Compared with the screw opening and closing method of the prior art, the vertical mechanical interference of the screw in the picking space surrounded by each clamping claw petals is avoided, thereby ensuring the picking quality of flowers.

[0009] The elastic member is a torsion spring, the driven lever is hinged to the ear plate on the outside of the opening and closing frame via a hinge shaft, and a receiving groove is provided at the hinge of the driven lever, the torsion spring is sleeved on the hinge shaft inside the receiving groove, and the two ends are fixedly connected to the driven lever and the opening and closing frame respectively.

[0010] The middle part of the plum blossom cam is rotatably connected to the opening and closing bracket via a vertical rotating shaft, the output shaft of the opening and closing motor passes through the opening and closing bracket, and the end surface of the output shaft of the opening and closing motor and the upper surface of the plum blossom cam are respectively fixed with mutually meshing driving gears and driven gears.

[0011] The output shaft axis of the rotating motor, the vertical rotating shaft axis of the plum blossom cam and the central axis of the opening and closing frame are arranged in a colinear manner.

[0012] The beneficial effects of the utility model are as follows: the scheme drives the opening and closing frame and the clamping claws to rotate along the output shaft axis of the rotating motor through the rotating motor, so that the gap between the clamping claws is aligned with the flower branches, thereby avoiding empty picking operations caused by the clamping claws touching and pressing down the flower branches, thereby ensuring picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the utility model;

[0014] Figure 2 It is a top view of the utility model;

[0015] Figure 3 It is a schematic diagram of the internal structure of the opening and closing frame of the utility model;

[0016] Figure 4 It is a schematic diagram of the structure of the utility model connected with the angle deflection mechanism;

[0017] Figure 5 It is a structural schematic diagram in which the utility model and the angle deflection mechanism are installed together at the lower end of the mechanical arm.

[0018] Figure numerals: 1. rotating motor; 2. opening and closing motor; 201. driving gear; 3. connecting seat; 4. opening and closing frame; 401. ear plate; 5. clamping claw; 501. corrugated part; 6. plum blossom cam; 601. arc-shaped protrusion; 602. driven gear; 7. driven rod; 701. receiving groove; 702. driven round head; 8. torsion spring; 9. angle deflection mechanism; 901. angle motor; 902. double rocker mechanism; 903. fixed seat; 10. mechanical arm; 11. conveyor belt. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution in the utility model, the technical solution in the utility model is clearly and completely described below in conjunction with the accompanying drawings. Other embodiments obtained by those skilled in the art without making any creative work should all fall within the protection scope of the utility model.

[0020] like Figure 4 and Figure 5As shown, the utility model provides a mechanical picking claw mechanism, which is located at the end of the angle deflection mechanism 9 of the mechanical claw, and the above-mentioned angle deflection mechanism 9 includes an angle motor 901, a fixed seat 903 and a deflection member, the fixed seat 903 is fixed at the lower end of the mechanical arm 10, the angle motor 901 is fixed to the outside of the fixed seat 903, and the two ends of the deflection member are respectively connected to the output shaft of the angle motor 901 and the mechanical picking claw mechanism. In order to ensure the stability of the mechanical picking claw mechanism when the angle motor 901 drives the mechanical picking claw mechanism to swing, the angle motor 901 uses a double-headed motor, and the deflection member uses two double rocker assemblies arranged up and down, one rocker end of the double rocker assembly is fixedly connected to the output shaft of the angle motor 901, and the other rocker end is hinged on the fixed seat 903, and the connecting rod of the double rocker assembly extends outward and is connected to the mechanical picking claw mechanism.

[0021] like Figure 1 The mechanical picking claw mechanism comprises a rotating motor 1, an opening and closing motor 2 and an opening and closing frame 4. The output shaft of the rotating motor 1 is rotatably connected to the end of the angle deflection mechanism 9 (i.e., the position where the connecting rod of the double rocker assembly extends outward). In order to ensure the stable cooperation between the rotating motor 1 and the connecting rods of the two double rocker assemblies, the rotating motor 1 in this embodiment is a double-headed motor. The outer side of the rotating motor 1 is fixedly connected to the opening and closing bracket together with the opening and closing motor 2 through the connecting seat 3. The outer side of the opening and closing bracket is hinged with a plurality of claw petals 5 along the circumferential direction. The inner side of the opening and closing frame 4 is provided with an opening and closing assembly. The opening and closing assembly drives each of the claw petals 5 to open and close simultaneously under the drive of the opening and closing motor 2. The rotating motor 1 drives the opening and closing frame 4 and the claw petals 5 to rotate together along the output shaft axis of the rotating motor 1, so that the gap between the claw petals 5 is rotated to align with the flower branches of the flowers, thereby avoiding the empty picking operation caused by the claw petals 5 touching and pressing down the flower branches.

[0022] Further preferably, the two sides of the clamping claw petal 5 have corrugated parts 501, and the corrugated parts 501 of two adjacent clamping claw petals 5 cooperate with each other, and a channel for the flower branches to pass through is formed between the matched corrugated parts 501. When collecting flowers growing obliquely, the flower branches are located in the channel between the corrugated parts 501, and the corrugated parts 501 can provide effective vertical resistance to the flower branches, thereby ensuring smooth picking of the flowers.

[0023] like Figure 2As shown, the opening and closing assembly includes a plum blossom cam 6 and an elastic member, the inner side of the plum blossom cam 6 is drivingly connected to the output shaft of the opening and closing motor 2, the outer side of the plum blossom cam 6 is formed with an arc-shaped protrusion 601 with the same number as the clamping claw petals 5, the upper end of the clamping claw petals 5 is fixed with a driven rod 7 for hinged connection with the outer side of the opening and closing frame 4, the inner side of the driven rod 7 is elastically connected to the opening and closing bracket through the elastic member, and the end of the driven rod 7 is fixed with a driven round head 702 that is in sliding contact with the outer side of the plum blossom cam 6; further preferably, the middle part of the plum blossom cam 6 It is rotatably connected to the opening and closing bracket via a vertical rotating shaft, the output shaft of the opening and closing motor 2 passes through the inside of the opening and closing bracket, and the end face of the output shaft of the opening and closing motor 2 and the upper surface of the plum blossom cam 6 are respectively fixed with a driving gear 201 and a driven gear 602 that mesh with each other; the elastic member is a torsion spring 8, and the driven shaft is hinged to the ear plate 401 on the outside of the opening and closing frame 4 via a hinge shaft, and a receiving groove 701 is provided at the hinge of the driven rod 7, the torsion spring 8 is sleeved on the hinge shaft inside the receiving groove 701, and the two ends are respectively fixedly connected to the driven rod 7 and the opening and closing frame 4.

[0024] The opening and closing motor 2 drives the plum blossom cam 6 to rotate through gear transmission. The driven round head 702 on the outside of the plum blossom cam 6 moves up and down under the drive of the plum blossom cam 6. When it reaches the outermost edge of the arc-shaped protrusion 601, each clamping claw petal 5 moves inward under the action of the lever to complete the closing action. When the driven round head 702 moves inward through the arc-shaped protrusion 601, under the resetting action of the torsion spring 8, the clamping claw petal 5 is driven to move outward to complete the opening action. During the entire opening and closing process, the internal space formed by the clamping claw petal 5 is sufficient. Compared with the screw opening and closing method of the prior art, there is no mechanical interference in the vertical direction, and the top of the flower picked by it is not worn, thereby ensuring the picking quality.

[0025] In order to ensure the consistency of the rotation of the gripper mechanism, Figure 3 As shown, the output shaft axis of the rotating motor 1 , the vertical rotating shaft axis of the plum blossom cam 6 and the central axis of the opening and closing frame 4 are arranged colinearly.

[0026] When implementing the technical solution, the gripper mechanism is installed at the lower end of the mechanical arm 10 through the angle deflection mechanism 9, and a visual camera is installed in the picking vehicle or on the mechanical arm 10. Taking the picking of marigolds as an example, the picking vehicle walks across the ridge. After the visual camera recognizes the marigold flowers and collects the relative position information, the angle motor 901 controls the double rocker assembly to swing, and the gripper mechanism is withdrawn from above the conveyor belt (such as Figure 5As shown in the position, if the visual camera recognizes that the branch of the marigold flower is growing obliquely, the rotating motor 1 is used to control the opening and closing frame 4 to rotate until the direction of the gap between the adjacent clamping claw petals 5 is consistent with the tilt direction of the branch of the target flower in the visual camera, and then the mechanical arm 10 drives the clamping mechanism to move downward. At this time, the flower is contained by the inner side of the clamping claw petals 5 and the branch is located between the adjacent clamping claw petals 5. Then, the driving gear 201 of the opening and closing motor 2 is meshed with the driven gear 602 above the plum blossom cam 6 to control the rotation of the plum blossom cam 6, and the driven round head 702 of the driven rod 7 moves outward along the arc-shaped protrusion 601, driving the clamping claw petals 5 to gradually close from the open state to catch the marigold flower (as shown in the position shown in the position). Figure 4 The mechanical arm 10 then moves upwards and tears off the marigold flower by pulling force. When the gripper mechanism moves upwards to the upper side of the conveyor belt 11, the double rocker mechanism 902 is controlled by the angle motor 901 to swing the gripper mechanism back to the top of the conveyor belt. Finally, the opening and closing motor 2 drives the plum blossom cam 6 to continue rotating. At this time, the torsion spring 8 resets the gripper petals 5 and opens the gripper petals 5, and the marigold flower falls on the conveyor belt, completing a single picking operation. Driven by the rotating motor 1, it can adapt to different growth bending angles of crops, thereby achieving effective picking and ensuring picking efficiency.

[0027] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. The mechanical picking claw mechanism is located at the end of the angle deflection mechanism of the mechanical claw, characterized in that: It includes a rotating motor, an opening and closing motor and an opening and closing frame. The output shaft of the rotating motor is rotatably connected to the end of the angle deflection mechanism. The outer side of the rotating motor is fixedly connected to the opening and closing bracket together with the opening and closing motor through a connecting seat. The outer side of the opening and closing bracket is hinged with a plurality of clamping claws along the circumferential direction. The inner side of the opening and closing frame is provided with an opening and closing component. The opening and closing component drives each of the clamping claws to open and close simultaneously under the drive of the opening and closing motor.

2. The mechanical picking claw mechanism according to claim 1, characterized in that: The two sides of the clamping claw petals are provided with corrugated parts, the corrugated parts of two adjacent clamping claw petals are matched with each other, and there is a channel for the flower branches to pass through between the matched corrugated parts.

3. The mechanical picking claw mechanism according to claim 1 or 2, characterized in that: The opening and closing assembly includes a plum blossom cam and an elastic member, the inner side of the plum blossom cam member is drivingly connected to the output shaft of the opening and closing motor, the outer side of the plum blossom cam member is formed with arc-shaped protrusions with the same number as the clamping claw petals, the upper end of the clamping claw petals is fixed with a driven rod for hinged connection with the outer side of the opening and closing frame, the inner side of the driven rod is elastically connected to the opening and closing bracket via the elastic member, and the end of the driven rod is fixed with a driven round head that is in sliding contact with the outer side of the plum blossom cam.

4. The mechanical picking claw mechanism according to claim 3, characterized in that: The elastic member is a torsion spring, the driven rod is hinged to the ear plate on the outside of the opening and closing frame via a hinge shaft, and a receiving groove is provided at the hinge of the driven rod, the torsion spring is sleeved on the hinge shaft inside the receiving groove and the two ends are fixedly connected to the driven rod and the opening and closing frame respectively.

5. The mechanical picking claw mechanism according to claim 3, characterized in that: The middle part of the plum blossom cam is rotatably connected to the opening and closing bracket via a vertical rotating shaft, the output shaft of the opening and closing motor passes through the opening and closing bracket, and the end surface of the output shaft of the opening and closing motor and the upper surface of the plum blossom cam are respectively fixed with mutually meshing driving gears and driven gears.

6. The mechanical picking claw mechanism according to claim 3, characterized in that: The output shaft axis of the rotating motor, the vertical rotating shaft axis of the plum blossom cam and the central axis of the opening and closing frame are arranged in a colinear manner.

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